AP_InertialSensor: rotate acccel/gyro for PXF

11 years ago · 848b563fc3
1 changed files with 4 additions and 0 deletions
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
@ -295,6 +295,10 @@ bool AP_InertialSensor_MPU9250::update( void )
				@@ -295,6 +295,10 @@ bool AP_InertialSensor_MPU9250::update( void )
    _accel[0].rotate(_board_orientation);
    _accel[0] *= MPU9250_ACCEL_SCALE_1G / _num_samples;

+    // rotate for bbone default
+    _accel[0].rotate(ROTATION_ROLL_180_YAW_90);
+    _gyro[0].rotate(ROTATION_ROLL_180_YAW_90);
+
    Vector3f accel_scale = _accel_scale[0].get();
    _accel[0].x *= accel_scale.x;
    _accel[0].y *= accel_scale.y;